跟踪期望速度,基于MPC,输出速度、加速度、制动主缸压力、油门
也出《无人驾驶车车辆模型预测控制(第2版)》PDF
function [sys,x0,str,ts] =mpcspeedd(t,x,u,flag)
switch flag,
case 0
[sys,x0,str,ts] = mdlInitializeSizes;
case 2
sys=mdlUpdates(t,x,u);
case 3
sys=mdlOutputs(t,x,u);
case {1,4,9}
sys = [];
otherwise
error(['unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts] = mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 0;
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